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<div class="title">color_volume.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_COLOR_VOLUME_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_COLOR_VOLUME_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">class </span>TsdfVolume;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">   59</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">ColorVolume</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointType</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;ColorVolume&gt; Ptr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ab99748c8f77741db805eddf37eac7ca5">   69</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ab99748c8f77741db805eddf37eac7ca5">ColorVolume</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a>&amp; tsdf, <span class="keywordtype">int</span> max_weight = -1);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7729fca0080bc45322d4d70b4849fa02">   72</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7729fca0080bc45322d4d70b4849fa02">~ColorVolume</a>();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a4abbcef13fa260adddc929cb0fa295fa">   76</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a4abbcef13fa260adddc929cb0fa295fa">reset</a>();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ad747f81e73b43fd0bd838f93db971308">   80</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ad747f81e73b43fd0bd838f93db971308">getMaxWeight</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a3789e8f1ed91726ecee1c2a4d23c1213">   84</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a3789e8f1ed91726ecee1c2a4d23c1213">data</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a9e45037a354953a1301dd5b7ae60e9fc">   91</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a9e45037a354953a1301dd5b7ae60e9fc">fetchColors</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; cloud, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;RGB&gt;</a>&amp; colors) <span class="keyword">const</span>; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7578e2256b2cfde775f9df1e77994223">   95</a></span>&#160;        Eigen::Vector3i <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7578e2256b2cfde775f9df1e77994223">resolution_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ae343ec34c4452e576fe9dd2462a0ae79">   98</a></span>&#160;        Eigen::Vector3f <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ae343ec34c4452e576fe9dd2462a0ae79">volume_size_</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a36372f9ea9728d1f807b53fbbffc3bfc">  101</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a36372f9ea9728d1f807b53fbbffc3bfc">max_weight_</a>;     </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a82b75f11222f730ea0c83d200d82289b">  104</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a82b75f11222f730ea0c83d200d82289b">color_volume_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      };</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_COLOR_VOLUME_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D&lt; int &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html">pcl::gpu::kinfuLS::ColorVolume</a></div><div class="ttdoc">ColorVolume class</div><div class="ttdef"><b>Definition:</b> color_volume.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a36372f9ea9728d1f807b53fbbffc3bfc"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a36372f9ea9728d1f807b53fbbffc3bfc">pcl::gpu::kinfuLS::ColorVolume::max_weight_</a></div><div class="ttdeci">int max_weight_</div><div class="ttdoc">Length of running average</div><div class="ttdef"><b>Definition:</b> color_volume.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a3789e8f1ed91726ecee1c2a4d23c1213"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a3789e8f1ed91726ecee1c2a4d23c1213">pcl::gpu::kinfuLS::ColorVolume::data</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; data() const</div><div class="ttdoc">Returns container with color volume in GPU memory</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a4abbcef13fa260adddc929cb0fa295fa"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a4abbcef13fa260adddc929cb0fa295fa">pcl::gpu::kinfuLS::ColorVolume::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Resets color volume to uninitialized state</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a7578e2256b2cfde775f9df1e77994223"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7578e2256b2cfde775f9df1e77994223">pcl::gpu::kinfuLS::ColorVolume::resolution_</a></div><div class="ttdeci">Eigen::Vector3i resolution_</div><div class="ttdoc">Volume resolution</div><div class="ttdef"><b>Definition:</b> color_volume.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a7729fca0080bc45322d4d70b4849fa02"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a7729fca0080bc45322d4d70b4849fa02">pcl::gpu::kinfuLS::ColorVolume::~ColorVolume</a></div><div class="ttdeci">~ColorVolume()</div><div class="ttdoc">Desctructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a82b75f11222f730ea0c83d200d82289b"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a82b75f11222f730ea0c83d200d82289b">pcl::gpu::kinfuLS::ColorVolume::color_volume_</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; color_volume_</div><div class="ttdoc">color volume data</div><div class="ttdef"><b>Definition:</b> color_volume.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_a9e45037a354953a1301dd5b7ae60e9fc"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#a9e45037a354953a1301dd5b7ae60e9fc">pcl::gpu::kinfuLS::ColorVolume::fetchColors</a></div><div class="ttdeci">void fetchColors(const DeviceArray&lt; PointType &gt; &amp;cloud, DeviceArray&lt; RGB &gt; &amp;colors) const</div><div class="ttdoc">Computes colors from color volume</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_ab99748c8f77741db805eddf37eac7ca5"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ab99748c8f77741db805eddf37eac7ca5">pcl::gpu::kinfuLS::ColorVolume::ColorVolume</a></div><div class="ttdeci">ColorVolume(const TsdfVolume &amp;tsdf, int max_weight=-1)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_ad747f81e73b43fd0bd838f93db971308"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ad747f81e73b43fd0bd838f93db971308">pcl::gpu::kinfuLS::ColorVolume::getMaxWeight</a></div><div class="ttdeci">int getMaxWeight() const</div><div class="ttdoc">Returns running average length</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume_html_ae343ec34c4452e576fe9dd2462a0ae79"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_color_volume.html#ae343ec34c4452e576fe9dd2462a0ae79">pcl::gpu::kinfuLS::ColorVolume::volume_size_</a></div><div class="ttdeci">Eigen::Vector3f volume_size_</div><div class="ttdoc">Volume size in meters</div><div class="ttdef"><b>Definition:</b> color_volume.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">pcl::gpu::kinfuLS::TsdfVolume</a></div><div class="ttdoc">TsdfVolume class</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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